mirror of https://github.com/ArduPilot/ardupilot
94 lines
2.7 KiB
C++
94 lines
2.7 KiB
C++
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#ifndef __AP_HAL_UTIL_H__
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#define __AP_HAL_UTIL_H__
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#include <stdarg.h>
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#include "AP_HAL_Namespace.h"
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#include <AP_Progmem/AP_Progmem.h>
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class AP_HAL::Util {
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public:
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// soft_armed starts out true
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Util() : soft_armed(false), capabilities(0) {}
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int snprintf(char* str, size_t size,
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const char *format, ...);
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int snprintf_P(char* str, size_t size,
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const prog_char_t *format, ...);
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int vsnprintf(char* str, size_t size,
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const char *format, va_list ap);
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int vsnprintf_P(char* str, size_t size,
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const prog_char_t *format, va_list ap);
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void set_soft_armed(const bool b) { soft_armed = b; }
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bool get_soft_armed() const { return soft_armed; }
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void set_capabilities(uint64_t cap) { capabilities |= cap; }
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void clear_capabilities(uint64_t cap) { capabilities &= ~(cap); }
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uint64_t get_capabilities() const { return capabilities; }
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virtual const char* get_custom_log_directory() { return NULL; }
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virtual const char* get_custom_terrain_directory() const { return NULL; }
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// run a debug shall on the given stream if possible. This is used
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// to support dropping into a debug shell to run firmware upgrade
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// commands
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virtual bool run_debug_shell(AP_HAL::BetterStream *stream) = 0;
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enum safety_state {
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SAFETY_NONE, SAFETY_DISARMED, SAFETY_ARMED
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};
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/*
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return state of safety switch, if applicable
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*/
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virtual enum safety_state safety_switch_state(void) { return SAFETY_NONE; }
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/*
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set system clock in UTC microseconds
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*/
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virtual void set_system_clock(uint64_t time_utc_usec) {}
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/*
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get system identifier (eg. serial number)
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return false if a system identifier is not available
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Buf should be filled with a printable string and must be null
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terminated
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*/
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virtual bool get_system_id(char buf[40]) { return false; }
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/**
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how much free memory do we have in bytes. If more than 0xFFFF
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then return 0xFFFF. If unknown return 4096
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*/
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virtual uint16_t available_memory(void) { return 4096; }
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/**
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return commandline arguments, if available
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*/
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virtual void commandline_arguments(uint8_t &argc, char * const *&argv) { argc = 0; }
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/*
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ToneAlarm Driver
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*/
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virtual bool toneAlarm_init() { return false;}
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virtual void toneAlarm_set_tune(uint8_t tune) {}
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virtual void _toneAlarm_timer_tick() {}
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/*
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return a stream for access to a system shell, if available
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*/
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virtual AP_HAL::Stream *get_shell_stream() { return NULL; }
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protected:
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bool soft_armed;
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uint64_t capabilities;
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};
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#endif // __AP_HAL_UTIL_H__
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